Orchard Autonomy Pack - 2019 Mapping

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Mapping and estimating location within maps is a critical prerequisite for autonomous navigation.

This video shows the orchard mapping system in action, it actually uses an early prototype of the sense hardware that has since been scrapped. However I thought I would put it up for reference as I hope to have some videos of the new hardware in the next few weeks.

The system in the video uses

• 2 x 360° cameras
• 1 x odometry
• 1 x 6 DOF IMU
• 1 x GPS (record only, not used in calculations)

It works quite well but there are number of issues in the output maps if you look closely, so a few improvements are being implemented in the new hardware.